I've had the same issue over the last month or so and just did get it taken care of (mostly because I didn't care).
Check brake fluid and fill above the fill line if it still "good". I recently had my calipers painted and it started right after. Doing this solved my problem.
Also check your brake pads. This wasn't my issue personally, but I've heard brake pads being bad can cause the issue as well.
That's all the advice I've got. Hopefully it helps.
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